Modular Quantization-Aware Training for 6D Object Pose Estimation

• URL: http://arxiv.org/abs/2303.06753v3
• Date: Mon, 04 Nov 2024 14:32:02 GMT
• Title: Modular Quantization-Aware Training for 6D Object Pose Estimation
• Authors: Saqib Javed, Chengkun Li, Andrew Price, Yinlin Hu, Mathieu Salzmann,
• Abstract summary: Edge applications demand efficient 6D object pose estimation on resource-constrained embedded platforms. We introduce Modular Quantization-Aware Training (MQAT), an adaptive and mixed-precision quantization-aware training strategy. MQAT guides a systematic gradated modular quantization sequence and determines module-specific bit precisions, leading to quantized models that outperform those produced by state-of-the-art uniform and mixed-precision quantization techniques.
• Score: 52.9436648014338
• License:
• Abstract: Edge applications, such as collaborative robotics and spacecraft rendezvous, demand efficient 6D object pose estimation on resource-constrained embedded platforms. Existing 6D pose estimation networks are often too large for such deployments, necessitating compression while maintaining reliable performance. To address this challenge, we introduce Modular Quantization-Aware Training (MQAT), an adaptive and mixed-precision quantization-aware training strategy that exploits the modular structure of modern 6D pose estimation architectures. MQAT guides a systematic gradated modular quantization sequence and determines module-specific bit precisions, leading to quantized models that outperform those produced by state-of-the-art uniform and mixed-precision quantization techniques. Our experiments showcase the generality of MQAT across datasets, architectures, and quantization algorithms. Remarkably, MQAT-trained quantized models achieve a significant accuracy boost (>7%) over the baseline full-precision network while reducing model size by a factor of 4x or more. Our project website is at: https://saqibjaved1.github.io/MQAT_/

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